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<h1>KatanaKinematics6M180.h</h1> </div>
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<a href="KatanaKinematics6M180_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/***************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (C) 2006 by Tiziano Mueller *</span>
<a name="l00003"></a>00003 <span class="comment"> * tiziano.mueller@neuronics.ch *</span>
<a name="l00004"></a>00004 <span class="comment"> * *</span>
<a name="l00005"></a>00005 <span class="comment"> * This program is free software; you can redistribute it and/or modify *</span>
<a name="l00006"></a>00006 <span class="comment"> * it under the terms of the GNU General Public License as published by *</span>
<a name="l00007"></a>00007 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or *</span>
<a name="l00008"></a>00008 <span class="comment"> * (at your option) any later version. *</span>
<a name="l00009"></a>00009 <span class="comment"> * *</span>
<a name="l00010"></a>00010 <span class="comment"> * This program is distributed in the hope that it will be useful, *</span>
<a name="l00011"></a>00011 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
<a name="l00012"></a>00012 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *</span>
<a name="l00013"></a>00013 <span class="comment"> * GNU General Public License for more details. *</span>
<a name="l00014"></a>00014 <span class="comment"> * *</span>
<a name="l00015"></a>00015 <span class="comment"> * You should have received a copy of the GNU General Public License *</span>
<a name="l00016"></a>00016 <span class="comment"> * along with this program; if not, write to the *</span>
<a name="l00017"></a>00017 <span class="comment"> * Free Software Foundation, Inc., *</span>
<a name="l00018"></a>00018 <span class="comment"> * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *</span>
<a name="l00019"></a>00019 <span class="comment"> ***************************************************************************/</span>
<a name="l00020"></a>00020 <span class="preprocessor">#ifndef KNIKATANAKINEMATICS6M180_H</span>
<a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#define KNIKATANAKINEMATICS6M180_H</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span>
<a name="l00023"></a>00023 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00024"></a>00024
<a name="l00025"></a>00025 <span class="preprocessor">#include "KNI_InvKin/KatanaKinematics.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "KNI_InvKin/KatanaKinematicsDecisionAlgorithms.h"</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#include <vector></span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031
<a name="l00032"></a>00032 <span class="keyword">namespace </span>KNI {
<a name="l00033"></a>00033
<a name="l00040"></a><a class="code" href="classKNI_1_1KatanaKinematics6M180.html">00040</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#a9a0b7df7fcfa890f10d12f281f25ecfa">DLLDIR_IK</a> <a class="code" href="classKNI_1_1KatanaKinematics6M180.html">KatanaKinematics6M180</a> : <span class="keyword">public</span> <a class="code" href="classKNI_1_1KatanaKinematics.html" title="The base class for all kinematic implementations.">KatanaKinematics</a> {
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">public</span>:
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keywordtype">void</span> init(<a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <span class="keyword">const</span>& length, <a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <span class="keyword">const</span>& parameters);
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="comment">// strong guarantee provided here:</span>
<a name="l00047"></a>00047 <span class="keywordtype">void</span> DK(<a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a>& solution, <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a> <span class="keyword">const</span>& current_encoders) <span class="keyword">const</span>;
<a name="l00048"></a>00048 <span class="keywordtype">void</span> IK(encoders::iterator solution, <a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a> <span class="keyword">const</span>& pose, <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a> <span class="keyword">const</span>& cur_angles) <span class="keyword">const</span>;
<a name="l00049"></a>00049
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keyword">private</span>:
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1position.html">00053</a> <span class="keyword">struct </span><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1position.html">position</a> {
<a name="l00054"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1position.html#a67d9978a1a7ad454c81b0ef84efb303f">00054</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1position.html#a67d9978a1a7ad454c81b0ef84efb303f">x</a>;
<a name="l00055"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1position.html#a22beb63afc0a91336830c36bb4b6b99f">00055</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1position.html#a22beb63afc0a91336830c36bb4b6b99f">y</a>;
<a name="l00056"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1position.html#a575a3923f571fb4bef641d623200b5b7">00056</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1position.html#a575a3923f571fb4bef641d623200b5b7">z</a>;
<a name="l00057"></a>00057 };
<a name="l00058"></a>00058
<a name="l00059"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">00059</a> <span class="keyword">struct </span><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> {
<a name="l00060"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#ae3b9beafb9d4df90b8800dbb8885e021">00060</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#ae3b9beafb9d4df90b8800dbb8885e021">theta1</a>;
<a name="l00061"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a8478675a879c226c98a7e09e1e806551">00061</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a8478675a879c226c98a7e09e1e806551">theta2</a>;
<a name="l00062"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a3602af248b08d3c06c3b4360be71364f">00062</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a3602af248b08d3c06c3b4360be71364f">theta3</a>;
<a name="l00063"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a5bf9d4f66ba84d09516a05371f7a25ce">00063</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a5bf9d4f66ba84d09516a05371f7a25ce">theta4</a>;
<a name="l00064"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a78d43bd519dc7fb96df401949ee220f8">00064</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a78d43bd519dc7fb96df401949ee220f8">theta5</a>;
<a name="l00065"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a1597acd4159392756bdb7b12b70a9152">00065</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a1597acd4159392756bdb7b12b70a9152">theta234</a>;
<a name="l00066"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a37d52dad909f57217a163969a00d0e23">00066</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a37d52dad909f57217a163969a00d0e23">b1</a>;
<a name="l00067"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#ab33c8e6fb59a936b51d36494a3d82bec">00067</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#ab33c8e6fb59a936b51d36494a3d82bec">b2</a>;
<a name="l00068"></a><a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a6229affc5b1a9014fb9edb46717511ad">00068</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html#a6229affc5b1a9014fb9edb46717511ad">costh3</a>;
<a name="l00069"></a>00069 };
<a name="l00070"></a>00070
<a name="l00071"></a><a class="code" href="classKNI_1_1KatanaKinematics6M180.html#ad7ee45a6c3fbde791130e9cffa04c77e">00071</a> <span class="keyword">typedef</span> std::vector<angles_calc> <a class="code" href="classKNI_1_1KatanaKinematics6M180.html#ad7ee45a6c3fbde791130e9cffa04c77e">angles_container</a>;
<a name="l00072"></a>00072
<a name="l00073"></a><a class="code" href="classKNI_1_1KatanaKinematics6M180.html#ac2171b20bbc1c20562cb1f06217300e5">00073</a> <a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <a class="code" href="classKNI_1_1KatanaKinematics6M180.html#ac2171b20bbc1c20562cb1f06217300e5">_length</a>;
<a name="l00074"></a><a class="code" href="classKNI_1_1KatanaKinematics6M180.html#a436da02b8b2554edc69462576cd62eb9">00074</a> <a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <a class="code" href="classKNI_1_1KatanaKinematics6M180.html#a436da02b8b2554edc69462576cd62eb9">_parameters</a>;
<a name="l00075"></a>00075
<a name="l00076"></a><a class="code" href="classKNI_1_1KatanaKinematics6M180.html#a1ee4dde1b486f224b548c37fb560082e">00076</a> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classKNI_1_1KatanaKinematics6M180.html#a1ee4dde1b486f224b548c37fb560082e">_tolerance</a>; <span class="comment">// initialized in .cpp</span>
<a name="l00077"></a><a class="code" href="classKNI_1_1KatanaKinematics6M180.html#acf99352ebdf4535abda9db896fc883bb">00077</a> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classKNI_1_1KatanaKinematics6M180.html#acf99352ebdf4535abda9db896fc883bb">_nrOfPossibleSolutions</a>;
<a name="l00078"></a>00078
<a name="l00079"></a><a class="code" href="classKNI_1_1KatanaKinematics6M180.html#a6dfabe3dd3a70d20333204e2735cfbcc">00079</a> <span class="keywordtype">void</span> <a class="code" href="classKNI_1_1KatanaKinematics6M180.html#a6dfabe3dd3a70d20333204e2735cfbcc">_setLength</a>(<a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <span class="keyword">const</span>& length) { _length = length; }
<a name="l00080"></a><a class="code" href="classKNI_1_1KatanaKinematics6M180.html#ab27dfdd1b4dee24f0d5010c91eb01241">00080</a> <span class="keywordtype">void</span> <a class="code" href="classKNI_1_1KatanaKinematics6M180.html#ab27dfdd1b4dee24f0d5010c91eb01241">_setParameters</a>(<a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <span class="keyword">const</span>& parameters) { _parameters = parameters; }
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="keywordtype">void</span> IK_b1b2costh3_6M180(angles_calc &a, <span class="keyword">const</span> position &p) <span class="keyword">const</span>;
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="keywordtype">void</span> thetacomp(angles_calc &a, <span class="keyword">const</span> position &p_m) <span class="keyword">const</span>;
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="keywordtype">bool</span> angledef(angles_calc &a) <span class="keyword">const</span>;
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keywordtype">bool</span> AnglePositionTest(<span class="keyword">const</span> angles_calc &a) <span class="keyword">const</span>;
<a name="l00089"></a>00089 <span class="keywordtype">bool</span> PositionTest6M180(<span class="keyword">const</span> angles_calc &a, <span class="keyword">const</span> position &p) <span class="keyword">const</span>;
<a name="l00090"></a>00090
<a name="l00091"></a>00091 };
<a name="l00092"></a>00092
<a name="l00093"></a>00093
<a name="l00094"></a>00094
<a name="l00095"></a>00095
<a name="l00096"></a>00096
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="preprocessor">#endif</span>
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